# Kinematics(forward/inverse) library using nalgebra.

`k` has below functionalities

1. Forward kinematics
2. Inverse kinematics

See `Chain` as the top level interface.

## Re-exports

 `pub use self::joint::Joint;` `pub use self::joint::JointType;` `pub use self::link::Link;` `pub use self::node::JointBuilder;` `pub use self::node::Node;`

## Modules

 iterator Iterators to iterate descendants and ancestors joint Joint related structs link `link` can be used to show the shape of the robot, or collision checking libraries. node graph structure for kinematic chain prelude Load basic trais of `k` urdf Load URDF format and create `k::Chain`

## Macros

 connect set parents easily

## Structs

 Chain Kinematic Chain using `Node` Constraints true means the constraint is used. The coordinates is the world, not the end of the arm. JacobianIKSolver Inverse Kinematics Solver using Jacobian matrix SerialChain Kinematic chain without any branch.

## Enums

 IKError The reason of the fail of inverse kinematics JointError The reason of joint error

## Traits

 InverseKinematicsSolver IK solver Real Trait shared by all reals. RealField Trait shared by all reals.

## Functions

 center_of_mass Calculate the center of mass of the chain jacobian Calculate Jacobian of the serial chain (manipulator).

## Type Definitions

 Isometry3 A 3-dimensional direct isometry using a unit quaternion for its rotational part. Also known as a rigid-body motion, or as an element of SE(3). Translation3 A 3-dimensional translation. UnitQuaternion A unit quaternions. May be used to represent a rotation. Vector3 A stack-allocated, 3-dimensional column vector.